{"id":"https://openalex.org/W2108502520","doi":"https://doi.org/10.1109/tac.2011.2105312","title":"Constructing and Implementing Motion Programs for Robotic Marionettes","display_name":"Constructing and Implementing Motion Programs for Robotic Marionettes","publication_year":2011,"publication_date":"2011-01-10","ids":{"openalex":"https://openalex.org/W2108502520","doi":"https://doi.org/10.1109/tac.2011.2105312","mag":"2108502520"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2011.2105312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2011.2105312","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063356958","display_name":"Patrick Martin","orcid":"https://orcid.org/0000-0002-5896-828X"},"institutions":[{"id":"https://openalex.org/I37693276","display_name":"York College of Pennsylvania","ror":"https://ror.org/02ssn3c97","country_code":"US","type":"education","lineage":["https://openalex.org/I37693276"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Patrick Martin","raw_affiliation_strings":["Electrical and Computer Engineering Program, York College of Pennsylvania, York, PA, USA","Kinsley Eng. Center, York Coll. of Pennsylvania, York, PA, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering Program, York College of Pennsylvania, York, PA, USA","institution_ids":["https://openalex.org/I37693276"]},{"raw_affiliation_string":"Kinsley Eng. Center, York Coll. of Pennsylvania, York, PA, USA","institution_ids":["https://openalex.org/I37693276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111802656","display_name":"Elliot R. Johnson","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliot Johnson","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Dept. of Mech. Eng., Northwestern Univ., Chicago, IL, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Northwestern Univ., Chicago, IL, USA#TAB#","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067725461","display_name":"Todd D. Murphey","orcid":"https://orcid.org/0000-0003-2262-8176"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Todd Murphey","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","Dept. of Mech. Eng., Northwestern Univ., Chicago, IL, USA#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Northwestern Univ., Chicago, IL, USA#TAB#","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091125105","display_name":"Magnus Egerstedt","orcid":"https://orcid.org/0000-0003-4213-5299"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magnus Egerstedt","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","[Dept. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"[Dept. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA]","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063356958"],"corresponding_institution_ids":["https://openalex.org/I37693276"],"apc_list":null,"apc_paid":null,"fwci":2.5851,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.89681785,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"56","issue":"4","first_page":"902","last_page":"907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.7295860052108765},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7160078287124634},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.698611855506897},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6842201352119446},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6240955591201782},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5900972485542297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47760745882987976},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45646631717681885},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.41660264134407043},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3482264280319214},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32066673040390015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3136223554611206},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1879366636276245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15846726298332214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11163374781608582}],"concepts":[{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7295860052108765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7160078287124634},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.698611855506897},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6842201352119446},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6240955591201782},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5900972485542297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47760745882987976},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45646631717681885},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.41660264134407043},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3482264280319214},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32066673040390015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3136223554611206},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1879366636276245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15846726298332214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11163374781608582},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tac.2011.2105312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2011.2105312","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.705.6354","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.705.6354","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nxr.northwestern.edu/sites/default/files/publications/2011TACMaJoMuEg.pdf","raw_type":"text"},{"id":"pmh:oai:smartech.gatech.edu:1853/38902","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/38902","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W189400915","https://openalex.org/W647173298","https://openalex.org/W1507941030","https://openalex.org/W1527951792","https://openalex.org/W1552834083","https://openalex.org/W1564439379","https://openalex.org/W1577364748","https://openalex.org/W1881150184","https://openalex.org/W1969811075","https://openalex.org/W1999484566","https://openalex.org/W2034862602","https://openalex.org/W2044323243","https://openalex.org/W2052247655","https://openalex.org/W2102838235","https://openalex.org/W2104098276","https://openalex.org/W2111931405","https://openalex.org/W2153219011","https://openalex.org/W2169008861","https://openalex.org/W2564832474","https://openalex.org/W6650404023"],"related_works":["https://openalex.org/W2373577936","https://openalex.org/W4221148444","https://openalex.org/W4387678054","https://openalex.org/W2389596151","https://openalex.org/W3095575180","https://openalex.org/W4306784355","https://openalex.org/W2169308097","https://openalex.org/W3091984855","https://openalex.org/W3035185588","https://openalex.org/W2044900919"],"abstract_inverted_index":{"This":[0],"technical":[1],"note":[2],"investigates":[3],"how":[4],"to":[5,23],"produce":[6],"control":[7],"programs":[8,30,37],"for":[9,31],"complex":[10],"systems":[11],"in":[12,54],"a":[13],"systematic":[14],"manner.":[15],"In":[16],"particular,":[17],"we":[18],"present":[19],"an":[20],"abstraction-based":[21],"approach":[22],"the":[24,41,65,68],"specification":[25],"and":[26,46],"optimization":[27],"of":[28,43,67],"motion":[29,44],"controlling":[32],"robot":[33],"marionettes.":[34],"The":[35],"resulting":[36],"are":[38,47],"based":[39],"on":[40],"concatenation":[42],"primitives":[45],"further":[48],"improved":[49],"upon":[50],"using":[51],"recent":[52],"results":[53,63],"optimal":[55],"switch-time":[56],"control.":[57],"Simulations":[58],"as":[59,61],"well":[60],"experimental":[62],"illustrate":[64],"operation":[66],"proposed":[69],"method.":[70]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
